6 accepted papers
Optical flow and stereo disparity, both are fundamental in the perception pipeline of robotic systems, enabling 3D understanding and motion estimation of the robot itself and the dynamic objects around. In this context, event cameras offer great potential to reduce latency and improve the efficiency
Estimating the 6D pose of rigid objects is a critical upstream task in many robotics applications. Most existing methods rely on RGB or RGB-D sensing modalities, which suffer from limitations under challenging lighting conditions and high-speed motion. In contrast, event-based cameras offer unique a
This paper presents a novel approach to improving the generalization capabilities of reinforcement learning (RL) agents for robotic systems with varying physical parameters. We propose the Fuzzy Ensemble of RL policies (FERL), which enhances performance in environments where system parameters differ
This letter presents VisTune, a method for automatic controller tuning specifically designed for UAVs using vision-based localization (VBL) for position control. In contrast to existing methods that involve manually flying the UAV to collect data for system identification and tuning, our approach le
This paper presents a novel optimization-based full-pose trajectory tracking method to control overactuated multi-rotor aerial vehicles with limited actuation abilities. The proposed method allocates feasible control inputs to track a reference trajectory, while ensuring the tracking of the referenc
Safety holds the prime importance in direct physical human-robot interaction (pHRI) tasks. Robots should have the ability to handle unexpected collisions in unstructured environments. Collision avoidance based on exteroceptive sensors can work in these scenarios. However, it may not be sufficient, e